Selectable gesture detection system and methods

ABSTRACT

A detection system for a closure panel of a vehicle and corresponding method of operation are provided. The system includes a detection module including a sensor subassembly for detecting an object in a detection zone and sensing a motion and characteristics of the object and outputting a corresponding sensor signal. The system also includes a gesture selector for accepting a user input from a user to select a valid activation gesture and a controller arrangement coupled to the sensor subassembly. The controller arrangement receives the user input from the gesture selector and adjusts a plurality of predetermined thresholds representing the valid activation gesture by the user required to move the closure panel based on the user input. The controller arrangement analyzes the sensor signal and determines whether the sensor signal is within the plurality of predetermined thresholds and then initiates movement of the closure panel accordingly.

CROSS-REFERENCE TO RELATED APPLICATION

This PCT International Patent application claims the benefit of U.S.Provisional Application No. 62/854,675 filed May 30, 2019. The entiredisclosure of the above application being considered part of thedisclosure of this application and hereby incorporated by reference.

FIELD

The present disclosure relates generally to a detection system for avehicle and, more particularly to a selectable gesture detection systemfor user-activated, non-contact activation of a powered closure panel.

BACKGROUND

This section provides background information related to the presentdisclosure which is not necessarily prior art.

Vehicles may be equipped with different sensor systems that performdifferent functions. For example, vehicles may be provided with agesture activated system which can detect foot or hand movements foropening a closure panel (e.g., lift gate of the vehicle) based on thegesture made. With regard to closure panels (e.g. powered lift gates),and in particular to gesture activated systems therefor, the detectionof a foot or hand gesture can be used to open such panels. This can bebeneficial, particularly when a user's hands are occupied. However, itis desired to avoid unintended detections (false triggering), such as ofa pedestrian walking nearby the user's vehicle, but not intending totrigger actuation of the closure panel. Additionally, users of thegesture activated systems may desire to modify or choose the gestureswhich can be used to open the closure panels.

Accordingly, there remains a need for improved detection systems used onvehicles that overcome these and other shortcomings of known detectionsystems.

SUMMARY

This section provides a general summary of the present disclosure and isnot a comprehensive disclosure of its full scope or all of its featuresand advantages.

It is an object of the present disclosure to provide a detection systemand methods of operating the detection system that address and overcomethe above-noted shortcomings.

Accordingly, it is an aspect of the present disclosure to provide adetection system for user-activated, non-contact activation of a poweredclosure panel of a vehicle. The detection system includes a detectionmodule including at least one sensor subassembly coupled to a vehiclebody of the vehicle for detecting an object in a detection zone andsensing a motion and characteristics of the object in the detection zoneand outputting a sensor signal corresponding to the motion andcharacteristics of the object in the detection zone. The detectionsystem also includes a gesture selector for accepting a user input froma user to select a valid activation gesture. The detection systemadditionally includes a controller arrangement coupled to the at leastone sensor subassembly and in communication with the gesture selector.The controller arrangement is configured to receive the user input fromthe gesture selector and adjust at least one of a plurality ofpredetermined thresholds representing the valid activation gesture bythe user required to move the closure panel based on the user input. Thecontroller arrangement is also configured to receive and analyze thesensor signal from the at least one sensor subassembly. The controllerarrangement determines whether the sensor signal is within the pluralityof predetermined thresholds and initiates movement of the closure panelin response to the sensor signal being within the plurality ofpredetermined thresholds representing the valid activation gesture.

In an aspect of the disclosure, the user interface is incorporated intoan infotainment system within a cabin of the vehicle.

In an aspect of the disclosure, the body control module is selectivelydecoupled from the electronic controller of the detection module inresponse to the tool being selectively coupled to the body controlmodule.

In an aspect of the disclosure, the tool is configured to set one of theplurality of gesture operation mode statuses of the body control module.

In an aspect of the disclosure, the electronic controller is configuredto communicate the one of the plurality of gesture operation modestatuses to the body control module in response to the coupling of theelectronic controller to the body control module and the body controlmodule is configured to synchronize with the electronic controller andprocess the sensor signal from the at least one sensor subassembly usingat least one of the plurality of preloaded detection algorithms.

In an aspect of the disclosure, the at least one sensor subassembly is aradar sensor subassembly including at least one radar transmit antennafor transmitting radar waves and at least one radar receive antenna forreceiving the radar waves after reflection from the object in thedetection zone to sense the motion and characteristics of the object inthe detection zone and output the sensor signal corresponding to themotion and characteristics of the object in the detection zone.

In an aspect of the disclosure, the electronic controller is furtherconfigured to: detect a plurality of extracted features of the sensorsignal, determine whether the plurality of extracted features are withinthe plurality of predetermined thresholds representing the validactivation gesture by the user required to move the closure panel,initiate movement of the closure panel in response to the plurality ofextracted features being within the plurality of predeterminedthresholds representing the valid activation gesture.

According to another aspect of the disclosure, a method of operating adetection system for user-activated, non-contact activation of a poweredclosure panel of the vehicle is also provided. The method includes thestep of receiving a user input from a gesture selector using acontroller arrangement in communication with the gesture selector. Themethod continues with the step of adjusting at least one of a pluralityof predetermined thresholds representing a valid activation gesture bythe user required to move a closure panel based on the user input fromthe gesture selector using the controller arrangement. The next step ofthe method is sensing a motion and characteristics of an object in adetection zone using at least one sensor subassembly coupled to thecontroller arrangement. The method proceeds by outputting a sensorsignal corresponding to the motion and characteristics of the object inthe detection zone using the at least one sensor subassembly. Next,receiving and analyzing the sensor signal from the at least one sensorsubassembly using the controller arrangement. The method then includesthe step of determining whether the sensor signal is within theplurality of predetermined thresholds using the controller arrangement.The method also includes the step of initiating movement of the closurepanel in response to the sensor signal being within the plurality ofpredetermined thresholds representing the valid activation gesture usingthe controller arrangement is provided.

In an aspect of the disclosure, the method further includes the steps ofassigning one of a plurality of gesture detection modes to a fob incommunication with the controller arrangement; monitoring for anapproach of the fob to the vehicle; operating a master vehicle nodecoupled to the user interface and operable with a plurality of gestureoperation mode statuses and a plurality of preloaded detectionalgorithms corresponding to the one of the plurality of gesturedetection modes assigned to the fob; and initiating movement of theclosure panel in response to the sensor signal being within theplurality of predetermined thresholds representing the valid activationgesture associated with the one of the plurality of gesture detectionmodes assigned to the fob.

In an aspect of the disclosure, the valid activation gesture includes atleast one of a stationary hold gesture and a side to side gesture with apredefined speed and predefined distance and predefined angle and astep-in gesture with a predefined speed and predefined approach distanceand predefined break point and a gesture within a predetermined timeperiod.

In an aspect of the disclosure, the gesture selector is a tool forselectively coupling to the body control module.

In an aspect of the disclosure, the method further includes the step ofselectively decoupling the body control module from the electroniccontroller of the detection module in response to the tool beingselectively coupled to the body control module.

According to yet another aspect of the disclosure, a method ofconfiguring a detection system for operating a closure panel of avehicle is provided. The method includes the step of detecting a requestto modify to the gesture detection operating mode of the detectionsystem. Next, configuring a controller arrangement configured totransmit a sensor signal transmitted over the vehicle network from theat least one sensor subassembly based on the detected request. Themethod also includes the step of configuring a controller arrangementconfigured to analyze a sensor signal transmitted over the vehiclenetwork from the at least one sensor subassembly based on the detectedrequest.

According to another aspect of the disclosure, a method of configuring adetection system for operating a closure panel of a vehicle isadditionally provided. The method includes the step of connecting atleast one sensor subassembly to a vehicle network, the at least onesensor subassembly configured in an operating mode to detect one of aplurality of gesture types. The next step of the method is configuring acontroller arrangement configured to receive a sensor signal transmittedover the vehicle network from the at least one sensor subassembly toanalyze the sensor signal based on the operating mode of the at leastone sensor subassembly.

Further areas of applicability will become apparent from the descriptionprovided herein. The description and specific examples in this summaryare intended for purposes of illustration only and are not intended tolimit the scope of the present disclosure.

DRAWINGS

The drawings described herein are for illustrative purposes only ofselected embodiments and not all possible implementations, and are notintended to limit the scope of the present disclosure.

FIG. 1 is an exploded view illustrating a detection module of adetection system mounted on a rear bumper of a vehicle according toaspects of the disclosure;

FIG. 2 is a schematic diagram of the detection module of FIG. 1according to aspects of the disclosure;

FIG. 3 is a rear perspective view of the detection module of FIG. 1according to aspects of the disclosure;

FIG. 4 is a view similar to FIG. 3 with a top cover removed therefromaccording to aspects of the disclosure;

FIG. 5 is a front perspective view of the detection module of FIG. 1according to aspects of the disclosure;

FIG. 6 is block diagram of the detection module of the detection systemincluding a radar transceiver coupled to a controller arrangementaccording to aspects of the disclosure;

FIG. 7 is a schematic diagram of a continuous wave Doppler based sensorsubassembly according to aspects of the disclosure;

FIG. 8 is a schematic diagram of a continuous wave frequency modulatedradar based sensor subassembly according to aspects of the disclosure;

FIG. 9 is a schematic diagram of a continuous wave frequency modulatedradar based sensor subassembly according to aspects of the disclosure;and

FIG. 10 is a block diagram of a first exemplary embodiment of thedetection system according to aspects of the disclosure;

FIG. 11 illustrates a user interface of the detection system accordingto aspects of the disclosure;

FIGS. 11A and 11B are illustrative examples of various user selectableoptions and parameters displayed on a user interface according toaspects of the disclosure;

FIG. 12 is a block diagram of a second exemplary embodiment of thedetection system according to aspects of the disclosure;

FIG. 13 is a system diagram of a gesture detection system according toaspects of the disclosure;

FIG. 14 is a flowchart of steps executed by a controller arrangementshown in FIG. 13 for modifying a gesture detection mode of the gesturedetection system according to aspects of the disclosure;

FIG. 15 is a sequential diagram of the gesture detection systemillustrating the exchange of communications over a vehicle bus formodifying the gesture detection mode of the gesture detection system inaccordance with an illustrative embodiment;

FIG. 16 is a flowchart of steps executed by the controller arrangementfor modifying the gesture detection mode of the gesture detection systemaccording to aspects of the disclosure;

FIG. 17 is a system diagram of a gesture detection system according toaspects of the disclosure operating according to the steps of FIG. 16 ;and

FIG. 18 is a sequential diagram of a gesture detection systemillustrating the exchange of communications over a vehicle bus formodifying a gesture detection mode of a gesture detection system inaccordance with an illustrative embodiment;

FIGS. 19A-19E illustrate one of a plurality of gesture detection modesof the controller arrangement according to aspects of the disclosure;

FIGS. 20A-20F illustrate another of the plurality of gesture detectionmodes of the controller arrangement according to aspects of thedisclosure;

FIGS. 21A-21E illustrate another of the plurality of gesture detectionmodes of the controller arrangement according to aspects of thedisclosure;

FIGS. 22 and 23 show a step in sub-gesture according to aspects of thedisclosure;

FIGS. 24 and 25 show a step down sub-gesture according to aspects of thedisclosure;

FIG. 26 shows a step hold or foot on ground sub-gesture according toaspects of the disclosure;

FIG. 27 shows a step up sub-gesture according to aspects of thedisclosure;

FIG. 28 shows a step out sub-gesture according to aspects of thedisclosure; and

FIGS. 29-31 illustrate steps of a method of operating the detectionsystem according to aspects of the disclosure.

DETAILED DESCRIPTION

In the following description, details are set forth to provide anunderstanding of the present disclosure. In some instances, certaincircuits, structures and techniques have not been described or shown indetail in order not to obscure the disclosure.

In general, the present disclosure relates to a detection system of thetype well-suited for use in many applications. The detection system andassociated methods of operation of this disclosure will be described inconjunction with one or more example embodiments. However, the specificexample embodiments disclosed are merely provided to describe theinventive concepts, features, advantages and objectives with sufficientclarity to permit those skilled in this art to understand and practicethe disclosure. Specifically, the example embodiments are provided sothat this disclosure will be thorough, and will fully convey the scopeto those who are skilled in the art. Numerous specific details are setforth such as examples of specific components, devices, and methods, toprovide a thorough understanding of embodiments of the presentdisclosure. It will be apparent to those skilled in the art thatspecific details need not be employed, that example embodiments may beembodied in many different forms and that neither should be construed tolimit the scope of the disclosure. In some example embodiments,well-known processes, well-known device structures, and well-knowntechnologies are not described in detail.

Referring to the Figures, wherein like numerals indicate correspondingparts throughout the several views, FIG. 1 illustrates a detectionmodule 10 of a detection system 11, 11′ fora powered closure panel 12,12′, such as a lift gate 12 and/or door 12′ of a vehicle 14. Thedetection module 10 may be provided as an integral component of anexisting vehicle component or fixed as a separate component to a framemember or other feature of the vehicle 14, which can be naturallypositioned at a desired location and orientation relative to the closurepanel 12, 12′ to take advantage of the detection pattern and range(i.e., approximately 5 m using radar). It is to be recognized that asingle detection module 10 can be used for multiple closure panels 12,12′, by way of example and without limitation; however, using more thanone detection module 10 to obtain a desired detection pattern ordetection zone 15 is also contemplated herein. The closure panels 12,12′ can include a lift gate 12 and/or a door 12′; however, the detectionmodule 10 and detection system 11, 11′ may be used with other closurepanels besides lift gate 12 and door 12′.

In more detail, for the lift gate 12, the detection module 10 can bedisposed on, behind or adjacent a rear bumper 16. For the door 12′, thedetection module 10 can be disposed on, behind or adjacent a side beam(door sill) 18, shown as being beneath the door sill 18. It is to befurther recognized that the detection module(s) 10 can be adapted to bedisposed in any desired location of the vehicle 14 to provide thedesired detection pattern for the intended application. To facilitatepositioning the detection module 10 in a precise orientation to providea precisely located radar detection pattern, the detection module 10 canbe fixed to pivotal member, shown in FIG. 1 as a spherical bearingmember 17, sometimes referred to as bearing pillow block, by way ofexample and without limitation, thereby allowing the detection module 10to be pivoted about multiple X, Y, and/or Z axes and fixed in thedesired position. Optionally, an actuator and rotatable assembly (bothnot shown) may be provided so as to adaptively rotate the module 10 tovary the detection zone 15 (e.g., vary the radar pattern) based on themode of operation of the module 10, or the terrain surrounding thevehicle 14.

As best shown schematically in FIG. 2 , the detection module can includea power supply unit 20 for coupling a power supply 21 of the vehicle 14to provide power to the detection module 10. Additionally, the detectionmodule can include a communication unit 22 electrically coupled to thepower supply unit 20 for communicating with the plurality of vehiclesystem controllers, such as a body control module (BCM), discussed inmore detail below over a communication bus 23. Further yet, thedetection module 10 can include a microprocessor or electroniccontroller 24 electrically coupled to the power supply unit 20 andcommunication unit 22 as well as to at least one sensor subassembly(discussed below), all of which can be disposed on a sensor printedcircuit board (PCB) as an integral, modular sub-assembly.

The detection module 10 includes the at least one sensor subassembly 25(e.g., a radar emitting sensor) for detecting an object 31 (e.g., theuser or user's foot) in the detection zone 15 and sensing a motion andcharacteristics of the object 31 in the detection zone 15 (e.g.,adjacent the closure panel 12, 12′). The at least one sensor subassembly25 outputs a sensor signal corresponding to the motion andcharacteristics of the object 31 in the detection zone 15. Specifically,the at least one sensor subassembly 25 can include at least one radartransmit antenna 26 for transmitting a plurality of radar beamsoutwardly therefrom and at least one radar receive antenna 28 forreceiving signals from the plurality of radar beams emitted from theradar transmit antennas 26 subsequent to being reflected from the object31, for example. While the at least one sensor subassembly 25 isdiscussed as utilizing radar, it should be appreciated that other typesof the at least one sensor subassembly 25 (e.g., infrared) may beutilized in addition to or instead.

The at least one radar transmit antenna 26 and the at least one radarreceive antenna 28 can be provided to operate at about 80 gigahertz, byway of example and without limitation. However, it is to be recognizedthat the at least one radar transmit antenna 26 the at least one radarreceive antenna 28 may operate at other frequencies, as desired for theintended application.

The electronic controller 24 can be configured to be operable in aplurality of gesture type detection modes and is electrically coupled tothe power supply unit 20 and the antennas 26, 28 of sensor subassembly25 and the communication unit 22 for operable communication therewith.In general, the use of radar (providing resolution, range, and materialpenetrating properties) properly positioned for coverage of a desiredvolume about the desired closure panel 12, 12′ can perform the one ormore detection functions, including gesture recognition and objectdetection. Additionally, the resolution provided by radar can provideincreased resolution needed for gesture recognition (such as a passingfoot, hand, and even facial gesture detection) at various ranges, forexample, at foot level near the bumper 16 or about ground level 13, butalso at distances away from lift gate 12 and/or door 12′, if desired.Thus, the detection module 10 may operate as part of a park assistprocess and an outward obstacle detection process and an inward obstacledetection process.

The gesture recognition of the detection module 10 may be used to detecta valid activation gesture for opening activation of lift gate 12 (e.g.,detection of a foot, a hand, or a face gesture). Accordingly, if thelift gate 12 is closed and the vehicle 14 is in park, the detectionmodule 10 can await a user to command opening of the lift gate 12 viathe valid activation gesture. The position of the detection module 10 isconfigured and located to cover the area about the periphery of thevehicle 14, illustratively about an area able to detect foot or leggestures or motions, or the height of a human for other gesturerecognition, and the resolution of the radar-based antennas 26, 28 canprovide for detection of precise gestures for controlling intendedactivation of the closure panel 12, 12′. The detection module 10 caninitiate or command operation of the closure panel 12, 12′ (e.g., open)by activating a closure actuator/motor subsequent to a positiveactivation/access gesture (e.g., a foot motion, foot rotation, step-in,step-out, a foot or hand swipe, a hold, or the like). For example whenoperating in the outward obstacle detection process, the detectionmodule 10 can command operation of the closure panel 12, 12′ (e.g.,open) by deactivating or stopping a closure actuator/motor, oralternatively, for establishing the environment about the vehicle 14 forbaselining the detection zone of the detection module 10, e.g., to varythe detection zone 15 based on a curb, snow pile, irregularities in theterrain about the vehicle 14 and the like. For example when operating aspart of the inward obstacle detection process, the detection module 10can command operation of the closure panel 12, 12′ (e.g., open) bydeactivating or stopping a closure actuator/motor.

The electronic controller 24 can be configured to determine which of theone or more modes or processes should be active based on communicationwith one or more vehicle system controllers (e.g., body control module).The electronic controller 24 is configured to execute software codeand/or instructions stored on a memory unit (not shown), such as anEEPROM or other type or memory device such as a solid state disk, RAM,hard disk or the like.

In addition, the electronic controller 24 can be configured to receiveand process the sensor signal corresponding to the motion andcharacteristics of the object 31 from the at least one sensorsubassembly 25 based on the determination of which of the plurality ofmodes should be active. Additionally, the electronic controller 24 canbe configured to initiate movement of the closure panel 12 in responseto processing the sensor signal corresponding to the motion andcharacteristics of the object 31 (gesture recognition). Morespecifically, if the at least one sensor subassembly 25 is a radarsensor subassembly, as described above, the electronic controller 24 canfurther be configured to detect a plurality of extracted features of thesensor signal determine whether the plurality of extracted features arewithin the plurality of predetermined thresholds representing the validactivation gesture by the user required to move the closure panel 12,12′. The electronic controller 24 can then initiate movement of theclosure panel 12, 12′ in response to the plurality of extracted featuresbeing within the plurality of predetermined thresholds representing thevalid activation gesture.

Additionally, the detection module 10 can include a housing 32, shown byway of example in a non-limiting aspect has including an upper housingmember 32 a and a lower housing member 32 b. At least a portion of thehousing 32 permits the radar beam to pass therethrough, and inaccordance with the one aspect, a portion of the housing 32 can beprovided as being transparent to the passage of the radar beam. In thenon-limiting embodiment illustrated in FIGS. 3-5 , the lower housingmember 32 b is constructed of a radiolucent or transparent plastic forthe passage of radio waves therethrough. The lower housing member 32 bfurther includes a receptacle 33 configured for receipt of the PCB 30therein, with the receptacle 33 shown, by way of example and withoutlimitation, as being delimited by a floor 34 and upstanding sidewalls 36extending between an upstanding front wall 38 and an upstanding rearwall 40. It is contemplated herein that an opening could be formed inthe housing 32, such as in the lower housing member 32 b, and a lenscover could be coupled to the lower housing member 32 b to extend overthe printed circuit board 30 for covering the opening and allowing lightfrom a plurality of light emitting diodes 39 forming part of an optionallighting subassembly integral with printed circuit board 30, or separatetherefrom, to shine outwardly from the detection module 10, if desired,and optionally illuminate on the ground 13 the corresponding detectionzone 15 to the user to visually inform the user the precise location ofthe detection zone 15.

The upper housing member 32 a is formed to extend over and enclose thereceptacle 33 of lower housing member 32 b to protect the PCB 30 andcomponents thereon against damage and exposure to environmentalelements. The upper housing member 32 a can be shaped and otherwiseconfigured as desired, as can the lower housing member 32 b. Further,the upper and/or lower housing member 32 a, 32 b can be configuredhaving attachment features, with the upper housing member 32 a beingshown, by way of example and without limitation, as having such anattachment feature in the form of an upstanding arm or boss 42. The boss42 has a through opening, shown as an elongate through slot 44, tofacilitate attachment of the detection module 10 to the vehicle 14, suchas via the pivotal spherical bearing member 17, which in turn isconfigured to be fixed to the desired location on the vehicle 14. Theelongate slot 44 allows for adjustment up-and-down, vertically along a Yaxis, while the spherical bearing member 17 allows for pivotal movementabout X, Y, Z axes (FIG. 1 ), as will be understood by the skilledartisan.

The housing 32, and shown as the lower housing member 32 b, by way ofexample and without limitation, further includes a radar shield portion46 extending upwardly (e.g., vertically), shown as in transverse orsubstantially transverse relation to the floor 34 along the front wall38, by way of example and without limitation. Radar shield 46 is shownonly in the context of one possible configuration and may not beprovided. The radar shield portion 46 is radiopaque, thereby preventingthe passage of radio waves therethrough. Radar shield portion 46 may beconfigured to reflect or absorb the plurality of radar beams RB thatimpinge upon the radar shield portion 46. In accordance with onenon-limiting aspect, the radar shield portion 46 of lower housing member32 b can be formed to carry a radiopaque member 48, such as a metalplate or some other material that acts as a barrier to the passage ofradio waves therethrough. The metal plate 48 is shown disposed and fixedwithin a receptacle 50 formed as a single piece of plastic material withthe lower housing member 32 b, such as in a molding process, by way ofexample and without limitation, though the metal plate 48 could beotherwise fixed to the upper housing member 32 a in addition to or inlieu of being fixed to lower housing member 32 b, as will be recognizedby a skilled artisan. The metal plate 48 is shown as extendingtransversely to the floor 34 of the lower housing member 32 b, (andthereby illustratively extending transversely to the plane of the sensorprinted circuit board 30 (PCB)), and thus, the metal plate 48 extends intransverse or substantially transverse (meaning it can be slightly moreor less, such as by about 10 degrees, for example) relation to theground surface 13 on which the vehicle 14 travels. In anotherembodiment, an actuator and rotatable/pivotable assembly, such as adrive gear or member configured in driving relation with aturntable-like support platform or otherwise (both not shown), may beprovided so as to adaptively rotate and/or pivot metal plate 48 relativeto the housing (with the housing 32 being non-rotatable relative to thevehicle 14) to selectively vary and alter the size, shape and/orlocation of the detection zone 15 (e.g., vary the radar pattern) basedon the mode of operation of the detection module 10, or the terrainsurrounding the vehicle 14. For example, when the detection module 10 isoperating in an obstacle detection mode, it may detect that the vehicle14 has been parked next to an elevated curb, or next to a pile of snow,which may prevent a user from placing their foot in the detection zonenormally associated with a flat surface/ground plane 13, and thus, notbeing able to activate the detection system 11, 11′ absent adjustmentthereof. Accordingly, the detection module 10 may adaptively vary thedetection zone 15 (e.g., by rotating, pivoting, raising or lowering thedetection module 10 and/or the radar shield portion 46) to compensatefor loss of access to detection zone 15 due to obstacle, terrain, curb,or the like.

With the radar shield portion 46 located in front of the respectiveradar transmit and receive antennas 26, 28 for alignment with at least aportion of the path of radar beam emitted and received thereby, at leasta portion of the radio waves of radar beam being emitted are blocked orabsorbed (recognizing that a radio frequency absorptive material orcoating could be applied to the radar shield portion 46 in combinationwith or in lieu of the metal plate 48), and thus, less than the entiretyof the radio waves of radar beam being emitted pass beyond the radarshield portion 46. Accordingly, the radar shield portion 46 can belocated, shaped and contoured as desired to provide a predeterminedradar pattern formed by radar beam beyond the radar shield portion 46,thereby establishing a precisely patterned and shaped 3-D detectionzone.

As best shown in FIG. 6 , the at least one sensor subassembly caninclude a radar transceiver 54 (e.g., Infineon® BGT24MTR11) including alocal oscillator 56 coupled to the at least one radar transmit antenna26 through a transmit amplifier 57 for transmitting radar waves. Thelocal oscillator 56 is also coupled to the at least one radar receiveantenna 28 through a receive amplifier 58 and an internal mixer 59 forreceiving the radar waves after reflection from the object 31 in thedetection zone 15. Consequently, the at least one sensor subassembly 25is coupled to the vehicle body 16 for sensing the motion andcharacteristics (e.g., speed, angle, intensity) of the object 31 in thedetection zone and outputting the sensor signal corresponding to themotion of the object 31 in the detection zone 15. The electroniccontroller 24 or processor is coupled to (or part of) the at least onesensor subassembly 25 (e.g., mounted to the printed circuit board 30).Electronic controller 24 may also include dedicated signal processinghardware circuitry for processing signals, and may include software asexecuted by the electronic controller 24 for replicating such dedicatedhardware, and may include a combination of hardware and softwarecomponents. Such components (e.g., software) can include a filter module60 of the electronic controller 24 coupled to the internal mixer 59 ofthe radar transceiver 54 through an external bandpass filter 62 and anexternal amplifier 63 for filtering the radar waves that are received.The components can also include a fast Fourier transform (FFT) module 64coupled to the filter module 60 for performing a Fourier transform ofthe radar waves amplified and filtered by the external bandpass filter62, external amplifier 63 and filter module 60 (i.e., transform from atime domain into a frequency domain). The components can also include agesture algorithm 65 for recognizing the gesture sequence as describedherein and a hardware initialization module 66 for initializing thesystem 11, 11′. An external digital to analog converter 68 may also beutilized between the electronic controller 24 and the at least one radarsensor subassembly 25 for converting control signals from the electroniccontroller 24 to the local oscillator 56 (e.g., V_(coarse) andV_(fine)). The electronic controller 24 can also include a frequencyestimator 70 to estimate a frequency of the radar waves beingtransmitted by the at least one radar transmit antenna 26 and aplurality of input-output ports 71.

According to an aspect, the at least one radar transmit antenna 26and/or the at least one radar receive antenna 28 can be configured toemit continuously modulated radiation, ultra-wideband radiation, orsub-millimeter-frequency radiation (e.g. frequencies forming part of theISM frequency band about 24 GHz). For example, the at least one radartransmit antenna 26 can be configured to emit continuous wave (CW)radar, known in the art to use Doppler radar techniques, employed aspart of the at least one sensor subassembly 25, 25′, 25″, 25′″ asillustrated in FIG. 7 . For example, the at least one radar transmitantenna 26 can be configured to emit modulated radiation, or frequencymodulated continuous wave (FMCW) radar, also known in the art to useDoppler radar, employed as part of the at least one sensor subassembly25′ as illustrated in FIGS. 8 and 9 . Also, the at least one sensorsubassembly 25′ may be configured for pulsed time-of-flight radar. Theat least one radar receive antenna 28 receives the reflections of suchemitted waves, or senses the interactions within the intermediate radarfield or detection zone 15 by the object 31 or user.

Referring to FIG. 7 in more detail, there is illustratively shown the atleast one sensor subassembly 25′ employing rapid low resolution Dopplerradar. The at least one sensor subassembly 25′ can be configured to emitand detect continuous wave (CW) radar, as is illustratively shown withthe at least one sensor subassembly 25′ including one transmit antenna26 and one receive antenna 28, for providing a lower cost and simplermotion/object detection system. With such a configuration, the at leastone sensor subassembly 25′ is operable to detect a speed/velocity v ofthe object 31 using the Doppler Radar principles (i.e., processing by asignal processor, such as the electronic controller 24 or a dedicatedlocal application-specific radar signal processor 75, of the receivedreflected CW radar signal to determine frequency shifts of an emittedcontinuous wave 77 indicative of the speed v of the object 31). Inanother embodiment, the at least one sensor subassembly 25′ isconfigured to only detect the speed/velocity v of the object 31. Therapid, low resolution Doppler radar based sensor embodiment allows forthe extraction of features characterizing the motion of the foot orobject 31, such as speed/velocity v of the object 31, in a lessprocessing and power consumption embodiment for controlling the closurepanel 12, 12′. According to an aspect, the at least one sensorsubassembly 25′ employs one transmit antenna 26 for transmitting theradar signal, and one receive antenna 28 for receiving the reflectedradar signal. In accordance with another rapid, low resolution Dopplerradar based sensor embodiment, the at least one sensor subassembly 25′may be configured to extract features from the received reflectedelectromagnetic signal characterizing the motion of the foot or object31 including only the speed or velocity v of the object 31, and thereflectivity/size of the object 31. The received reflectedelectromagnetic signal may be analyzed from which frequency (indicativeof speed or velocity v of the object 31) and amplitude (indicative ofreflectivity and size of the object 31) signal components can beextracted, the electronic controller 24 being configured to calculatethe speed of the object 31 based on the Doppler effect, for example(e.g., using the FFT module 64). As a result, a lower cost electroniccontroller 24 can be provided capable of more quickly processingactivation gestures. The signal processor 75 (or electronic controller24) is illustrated as disposed in communication with the antennaelements 26, 28 through signal processing element such as high/low gainsignal amplifiers 76, a mixer 78 configured to mix the received waves orsignal with the transmitted waves or signal generated by a waveformgenerator 80 and oscillator 82 as received from a splitter 84 forprocessing the received reflections of the radar waves.

Now referring to FIG. 8 , there is illustratively shown the at least onesensor subassembly 25″ employing higher resolution FMCW radar. Thehigher resolution FMCW radar of the at least one sensor subassembly 25″allows for the extraction of multiple features characterizing thegesture of the foot or object 31, such as speed or velocity v of theobject 31, as well as angle, shape, size, reflectivity, and distance dof the object 31. In this embodiment, the at least one sensorsubassembly 25″ employs at least one transmit antenna 26 fortransmitting the FMCW radar signal 86, and at least one receive antenna28 for receiving the reflected radar signal, and the electroniccontroller 24 being configured to determine the specific motions of theuser/object 31. With such a configuration, the detection system 11 isoperable to detect a gesture/motion (and characteristics) of the object31 using the Frequency Modulated Radar techniques (i.e., processing bythe electronic controller 24, of the reflected FMCW radar signal todetermine frequency shifts indicative of the speed (Doppler frequency)and distance d (beat frequency) of the object 31). Alternatively, the atleast one sensor subassembly 25′″ can be configured to include at leasttwo receive antennas 26 ₁, 26 ₂, to 26 _(n) forming an antenna array, asshown in FIG. 9 for capturing received reflected electromagnetic signalssuch as FMCW radar signals so that the captured received reflectedelectromagnetic signals can be processed by the electronic controller 24to extract a data set containing data relating to the distance andangles of the motion/object 31 relative to the at least two receiveantennas 28 ₁, 28 ₂, to 28 _(n). Also, multiple transmit antennas 26 nmay be provided. As a result, a more powerful microcontroller (MCU)(e.g., electronic controller 24) can be provided capable of rapidlyextracting data, such as speed v, angle, distance d, and reflectivity orsize data, from reflected radar signal, to more accuratelydifferentiating (higher accuracy) any activation gestures betweendifferent users. In accordance with another embodiment, theconfiguration of the at least one sensor assembly 25′, 25″, 25′″ can beutilized in the above described detection system 11 for providing ahigher accuracy detection system.

As discussed above, the detection module 10 including the at least onesensor assembly 25, 25′, 25″, 25′″ may comprise part of the detectionsystem 11 for user-activated, non-contact activation of the poweredclosure panel 12, 12′ of the vehicle 14. Thus, as best shown in FIG. 10, a first exemplary embodiment of the detection system 11 includes thedetection module 10 in addition to a controller arrangement 24, 88, 90,92 that is coupled to the at least one sensor subassembly 25, 25′, 25″,25′″ to detect a gesture or gesture sequence G. As discussed above, thecontroller arrangement 24, 88, 90, 92 is operable in any one of theplurality of gesture type detection modes and can be configured toselect one of the plurality of gesture detection modes based on the userinput.

In more detail, the detection system 11 also includes a gesture selector94, 96 in communication with the controller arrangement 24, 88, 90, 92for accepting a user input from a user to select the valid activationgesture. The gesture selector 94, 96 of the first exemplary embodimentof the detection system 11 is a user interface 94 configured to acceptthe user input from the user. For example, the user interface 94 can beincorporated into an infotainment system 95 within a cabin 98 of thevehicle 14, as best shown in FIG. 11 and FIG. 11A. FIG. 11A illustratesthe interface 94, such as a touch screen display in accordance with oneexample presenting various configuration options to a user capable ofinteracting with the interface 94 to input his selection of presentedparameters or options. For example a gesture detection mode can beselected by a user, the sensitivity of the selected gesture can beselected e.g. how much deviation from a valid activation gesture thesystem will still determine as a gesture to result in an activationcommand e.g. open closure member. For example, the user's gesture may beset to trigger a closure panel or vehicle system command when 95%accurate to the stored valid gesture, or may be set to trigger a closurepanel or vehicle system command when 90% accurate to the stored validgesture, and so on and so forth. Also an option for the user to have hisgesture learned by the system e.g. the user can select the “Learn yourgesture mode now” icon on the interface 94 and the user will have aperiod of time to exit the cabin and proceed to have their preferredbaseline gesture registered by the system (e.g. stored in memory 142) asdetected by the at least one sensor subassembly 25, 25′, 25″, 25′″. Thevehicle can guide the user when inputted their baseline preferredgesture, such as through the audio system issuing audio commands andsteps and receiving confirmations from a user using a microphone, (e.g.“Proceed to the sensor. Are you at the sensor? Next, input yourpreferred gesture now. Have you completed the gesture? Are you happywith your gesture to be learned? Please repeat your gesture threeaddition times for confirmation. Your custom preferred gesture has notbeen learned”). While a foot based gesture is illustrated, other partsof a user's body may be recognized as a gesture, such as a handmovement, head movement, gait, multiple different body part movements,and the like. FIG. 11B illustrates other parameters or options displayedto a user via the user interface 94, for example by the infotainmentsystem 95 of FIG. 11 . Illustrated are individual user customizablegesture selection parameters, such as gesture type, and user adjustablesub-parameters related to the selected gesture type. For example, withinthe “Step and hold” gesture type, various parameters related to such agesture type can be selected for customizing the detection of thegesture, such as how long (e.g. fast to slow) a step-in to be detectedshould occur, how long a hold on the floor to be detected should occur,and how long (e.g. fast to slow) a step-out to be detected should occur.Other characteristics of the sub-gestures for completing a gesture maybe selected by a user in such a manner. In a possible configurations,such parameters or options may not be displayed by the user interface94, and remain only accessible to a servicing party and not by the usere.g. via a communication port for system servicing.

The controller arrangement 24, 88, 90, 92 is configured to receive theuser input from the gesture selector 94, 96 and adjust at least one of aplurality of predetermined thresholds representing the valid activationgesture by the user required to move the closure panel 12, 12′ based onthe user input. The controller arrangement 24, 88, 90, 92 is alsoconfigured to receive and analyze the sensor signal from the at leastone sensor subassembly 25, 25′, 25″, 25′″ and determine whether thesensor signal is within the plurality of predetermined thresholds. Thecontroller arrangement 24, 88, 90, 92 then initiates movement of theclosure panel 12, 12′ in response to the sensor signal being within theplurality of predetermined thresholds representing the valid activationgesture.

Referring back to FIG. 10 , the controller arrangement 24, 88, 90, 92can include the electronic controller 24 of the detection module 10operating in one of the plurality of gesture type detection modes andcoupled to the at least one sensor subassembly 25, 25′, 25″, 25′″ and toa power actuator 100 of the closure panel 12, 12′ in the first exemplaryembodiment of the detection system 11. The electronic controller 24 alsoincludes a module local interconnect network interface 102. Thecontroller arrangement 24, 88, 90, 92 also includes a body controlmodule 88 coupled the electronic controller 24 and including a bodycontrol local interconnect network interface 104. The controllerarrangement 24, 88, 90, 92 additionally includes a master vehicle node90 operable with a plurality of gesture operation mode statuses 106 anda plurality of preloaded detection algorithms 108 corresponding to theuser input and coupled the electronic controller 24 and including amaster node local interconnect network interface 110 and coupled to thebody control module 88 and to the electronic controller 24 and incommunication with the user interface 94 (e.g., electrically coupledthereto as shown in FIG. 10 ). So, while the electronic controller 24 isdescribed above as processing the sensor signal, the master vehicle node90 of the first exemplary embodiment of the detection system 11 mayprocess the sensor signal in addition to, or in place of processingcarried out by the electronic controller 24. The detection system 11further includes a fob 92 in communication with at least one of theelectronic controller 24 and the body control module 88. It should beappreciated that the controller arrangement 24, 88, 90, 92 may havefewer or additional elements besides those shown.

As best shown in FIG. 12 , a second exemplary embodiment of thedetection system 11′ includes the detection module 10 in addition toanother controller arrangement 24, 88, 90, 92. The controllerarrangement 24, 88, 90, 92 includes the electronic controller 24 of thedetection module 10 operating in one of the plurality of gesture typedetection modes and storing the plurality of gesture operation modestatuses 106. The electronic controller 24 is coupled to the at leastone sensor subassembly 25, 25′, 25″, 25′″ and to the power actuator 100of the closure panel 12, 12′. The electronic controller 24 includes themodule local interconnect network interface 102.

The controller arrangement 24, 88, 90, 92 of the second exemplaryembodiment of the detection system 11′ also includes the body controlmodule 88 operable with the plurality of gesture operation mode statuses106 and the plurality of preloaded detection algorithms 108 and coupledto the electronic controller 24 and including the body control localinterconnect network interface 104. The electronic controller 24 isconfigured to communicate the one of the plurality of gesture operationmode statuses 106 (e.g., a step mode 107) to the body control module 88in response to the coupling of the electronic controller 24 to the bodycontrol module 88 and the body control module 88 is configured tosynchronize with the electronic controller 24 and process the sensorsignal from the at least one sensor subassembly 25, 25′, 25″, 25′″ usingat least one of the plurality of preloaded detection algorithms 108. Forexample, the body control module 88 operating as a master LIN node mayoperate in a configuration mode, for example in a LIN Diagnostic Mode tochange the operating mode of the gesture detection system. The masterLIN node may operate in such diagnostic mode in response to aconfiguration of the master LIN node, for example as a result of a userinitiated action to change the operating mode of the gesture detectionsystem.

Still referring to FIG. 12 , the second exemplary embodiment of thedetection system 11′ additionally includes a fob 92 (e.g., a key fobcarried by the user) in communication with at least one of theelectronic controller 24 and the body control module 88 and wherein theelectronic controller 24 is configured to communicate an operating mode(e.g., one of the plurality of gesture type detection modes identifiedby a corresponding one of the plurality of gesture operation modestatuses 106) to the body control module 88.

The gesture selector 94, 96 of the second exemplary embodiment of thedetection system 11′ is a tool 96 for selectively coupling to the bodycontrol module 88 through the body control local interconnect networkinterface 104 (e.g., used by an original equipment manufacturer or OEM).More specifically, the body control module 88 is selectively decoupledfrom the electronic controller 24 of the detection module 10 in responseto the tool 96 being selectively coupled to the body control module 88.The tool 96 is configured to set one of the plurality of gestureoperation mode statuses 106 of the body control module 88.

FIG. 13 illustrates the communication of configuration data over avehicle bus 114 (e.g., LIN bus) based on a change using the userinterface 94, for example. The BCM 88 (or master vehicle node 90) has amemory 116 storing the plurality of gesture detection algorithms 108(e.g., a first and a second gesture algorithm are shown) and a pluralityof gesture detection mode setting parameters or gesture operation modestatuses 106. The memory 116 also includes a master task 118 and a slavetask 120. Again, the BCM 88 includes the body control local interconnectnetwork interface 104 with body serial communication block 122 andfunctioning as a master communication network (LIN or local interconnectnetwork) node 124. The tool 96 is in communication with the BCM 88 andstores or accepts a configuration file 126 including a sensor operatingdetection mode from a slave with identification 128 (i.e., slaveidentification 127). The user interface 94 is also shown incommunication with the BCM 88 and displays a sensor operating detectionmode 130 and receives the user preference or user input 132.

Each of a plurality of slave sensors 134 (e.g., detection module 10) arein communication with the BCM 88 over the vehicle bus 114 via the modulelocal interconnect network interface 102 with module serialcommunication block 136 and functioning as a slave communication network(LIN) node 138. And each includes the electronic controller 24 with amodule processing unit 140 (e.g., microprocessor) coupled to the sensorhardware (e.g., sensor subassembly 25, 25′, 25″, 25′″) and to a memory142. The memory 142 stores sensor operating detection mode parameters144, one of the plurality of gesture detection algorithms 108, anidentifier or slave identification 127 (e.g., a unique identifier foreach detection module 10), and the slave task 120.

The controller arrangement 24, 88, 90, 92 is configured to executeillustratively the steps as illustrated in FIG. 14 to display selectableoperating mode possibilities on the user interface 94 and configure theBCM 88 and the sensor subassembly 25, 25′, 25″, 25′″ based on thedetected user gesture mode selected using the user interface 94. In moredetail, the steps of FIG. 14 include 146 starting a user modifiableparameter mode. Next, 148 reading and displaying sensor operatingdetection mode 130 (e.g., the plurality of predetermined thresholds) onthe user interface 94. The next step is 150 receiving a user input 132from the user to modify the plurality of gesture detection mode settingparameters or gesture operation mode statuses 106. Then, the next stepis 152 storing the user input change to the plurality of gesturedetection mode setting parameters or gesture operation mode statuses106. Next, 154 starting a diagnostic mode and 156 reading the pluralityof gesture detection mode setting parameters or gesture operation modestatuses 106 with a master node (e.g., master vehicle node 90 or BCM88). Then, 158 executing a master task 118 for setting sensor operatingdetection mode parameters 144 using an updated LIN scheduling table 160(FIG. 17 ) and 162 broadcasting frame headers using the updated LINscheduling table and frame message including the sensor operating mode.The next steps are 164 updating sensor operating detection modeparameters 144 in a memory 142 of a slave node 10 in response toreceiving a master task header of a diagnostic frame 166 and 168updating the sensor operating detection mode parameters 144 in thememory 142 of the slave node 10 in response to receiving the master taskheader of the diagnostic frame 166 and 170 transmitting a response 171to the master node (e.g., master vehicle node 90 or BCM 88) using theslave node 10 confirming the setting of the sensor operating detectionmode parameters 144.

FIG. 15 illustrates a sequential diagram illustrating the exchange ofdata and the operations executed by the controller arrangement 24, 88,90, 92. The plurality of gesture detection mode setting parameters orgesture operation mode statuses 106 are read by the BCM 88 or mastervehicle node 90 at 172 and transmitted at 174. At 176, the sensoroperating detection mode 130 (e.g., the plurality of predeterminedthresholds) are displayed on the user interface 94 and changed by theuser input 132. At 178, the sensor operating detection mode 130 istransmitted to the BCM 88 or master vehicle node 90. At 80, a mastertask 118 is executed for setting sensor operating detection modeparameters 144 and at 182 diagnostic frames or frame headers 166 aretransmitted including the sensor operating mode that has been updated.At 184 updating sensor operating detection mode parameters 144 in thememory 142 of the slave node 10 and at 186 executing the slave task 120to update the sensor operating detection mode parameters 144 in thememory 142 of the slave node 10. At 188, transmitting the response 171to the master node (e.g., master vehicle node 90 or BCM 88) using theslave node 10 confirming the setting of the sensor operating detectionmode parameters 144.

With reference to FIG. 16-18 , the master LIN node (e.g., master vehiclenode 90) may operate in such diagnostic mode in response to aconfiguration of the master LIN node (e.g., BCM 88 or master vehiclenode 90), for example as a result of an OEM initiated operation, forexample by connection of the tool 96 to the vehicle bus 114 or directlyfor uploading the configuration file 126 to the master LIN node (e.g.,the BCM 88 or master vehicle node 90), to configure the gesturedetection mode of the system 11, 11′. In response to such an OEMinitiated configuration operation, a controller arrangement 24, 88, 90,92 is configured to execute illustratively the steps as illustrated inFIG. 16 to configure the BCM 88 and the sensor subassembly 25, 25′, 25″,25′″ based on the OEM desired gesture detection mode reflected in theconfiguration file. Specifically, the steps of FIG. 16 include 190starting an OEM configuration mode. Next, 192 extracting sensorcalibration mode corresponding to gesture operation mode statuses 106from the configuration file 126 using the BCM 88 or master vehicle node90. Then, 194 configuring the BCM 88 or master vehicle node 90 tooperate in a gesture operation mode status 106 based on the sensorcalibration mode extracted from the configuration file 126. The nextstep is 196 executing a master task 118 for setting sensor operatingdetection mode parameters 144. Next, 198 broadcasting frame headers ordiagnostic frames 166 over the vehicle bus 114 including the sensoroperating mode. The next steps are 200 updating sensor operatingdetection mode parameters 144 in a memory 142 of a slave node 10 inresponse to receiving a master task header of the diagnostic frame 166and 202 updating the sensor operating detection mode parameters 144 inthe memory 142 of the slave node 10 in response to receiving the mastertask header of the diagnostic frame 166 and 204 transmitting a response171 to the master node (e.g., master vehicle node 90 or BCM 88) usingthe slave node 10 confirming the setting of the sensor operatingdetection mode parameters 144.

FIG. 17 illustrates the communication of the configuration file or dataover the vehicle bus 114 (e.g., LIN bus) for example. The memory 116 ofthe BCM 88 is shown with the scheduling table 160, and FIG. 18illustrates a sequential diagram illustrating the exchange of data andthe operations executed by the controller arrangement 24, 88, 90, 92.Thus, in the second exemplary embodiment of the detection system 11′,the body control module 88 can process the sensor signal in addition to,or in place of processing carried out by the electronic controller 24.In more detail, in FIG. 18 , at 206 the tool 96 transmits theconfiguration file 126 to the BCM 88 or the master vehicle node 90. At208, the gesture operation mode status 106 of the BCM 88 or mastervehicle node 90 is modified based on the sensor calibration modeextracted from the configuration file 126. At 210, a master task 118 isexecuted for setting sensor operating detection mode parameters 144.Next, at 212 the BCM 88 or master vehicle node 90 broadcasts frameheaders or diagnostic frames 166 over the vehicle bus 114 including thesensor operating mode. At 214 sensor operating detection mode parameters144 are updated in a memory 142 of a slave node 10 in response toreceiving a master task header of the diagnostic frame 166 and at 216the sensor operating detection mode parameters 144 are updated in thememory 142 of the slave node 10. At 218, a response 171 is transmittedto the master node (e.g., master vehicle node 90 or BCM 88) using theslave node 10 confirming the setting of the sensor operating detectionmode parameters 144.

The plurality of gesture type detection modes (e.g., detected using theplurality of preloaded detection algorithms 108) can include astationary foot hold gesture mode. Accordingly, the valid activationgesture can include a stationary hold gesture, as shown in FIGS.19A-19E. So, for example in the first exemplary embodiment of thedetection system 11, the user can use the user interface 94 to select todetect a foot 31 (e.g., a stationary foot) placed on the ground level 13(shown in the side view of 19B and top view of 19C). In addition, thetool 96 of the second exemplary embodiment of the detection system 11′may also be used to make this mode selection. The size of the detectionzone 15 can be adjusted based on user preference by increasing detectionangle θ and distance d (e.g., FMCW detection thresholds or otherthresholds of the plurality of predetermined thresholds representing thevalid activation gesture). So the user may expand or vary the detectionangle θ and/or the distance d as desired.

As shown in the top view of FIG. 19C, the foot 31 must stay within thedetection zone 15 defined by the detection angle θ and distance d. TheFMCW detected speed and amplitude characteristics (e.g., extractedfeatures) can be represented and processed by the controller arrangement24, 88, 90, 92 in the frequency domain (e.g., using a fast Fouriertransform) as shown in FIG. 19D. The plurality of predeterminedthresholds can include an amplitude threshold A_(t) and a frequencythreshold Ft set, such that the stationary foot will be detected with alow or no speed (e.g., frequency threshold) and a predeterminedamplitude representative of a typical foot 31 at a given distance d.Also, the detection angle θ and distance d can be set as a narrow angleat a predetermined distance. The distance d can be varied (e.g., by theuser) depending on whether a hovering foot gesture (e.g., the foot 31not resting on the ground level 13) is desired to be detected.

The plurality of gesture type detection modes can include an up and downfoot hold gesture mode, as best shown in FIGS. 20A-20F. The validactivation gesture may, for example require that the user get their footclose to the at least one sensor subassembly 25, 25′, 25″, 25′″ thenclose to the ground level 13, and within a range in between the sensorsubassembly 25, 25′, 25″, 25′″ and the ground level 13. So, the user mayselect to detect an up and down motion (e.g., towards and away from theat least one sensor subassembly 25, 25′, 25″, 25″). The user may selectthe speed of the motion to be detected, as well as the distancethresholds using the user interface 94 of the first exemplary embodimentof the detection system 11 and/or the tool 96 of the second exemplaryembodiment of the detection system 11′. In more detail, as shown in FIG.20B, in a first part of the valid activation gesture, the user may set afirst distance threshold d1 with a first detection angle 81 and then asshown in FIG. 20C, for the second part of the valid activation gesture,the user may set a second distance threshold d2 with a second detectionangle 82. As shown in the top view of FIG. 20D, the foot must staywithin the detection zone 15 defined by the detection angle θ anddistance d.

The FMCW detected speed and amplitude characteristics (e.g., extractedfeatures) can be represented and processed by the controller arrangement24, 88, 90, 92 in the frequency domain as shown in FIG. 20E. Theplurality of predetermined thresholds can include a first amplitudethreshold A1 and a first frequency threshold F1 set, such that for thefirst part of the valid activation gesture, the first amplitudethreshold A1 corresponds with the first distance threshold d1.Similarly, the plurality of predetermined thresholds can include asecond amplitude threshold A2 and a second frequency threshold F2 set,such that for the second part of the valid activation gesture, thesecond amplitude threshold A2 corresponds with the second distancethreshold d2. The user may also select the detection of a desired speedwhich corresponds with the frequency thresholds F1, F2. So, thepredetermined amplitude range (within the amplitude thresholds A1, A2)is representative of the desired foot motion limits (distances d1, d2).Thus, the controller arrangement 24, 88, 90, 92 can be configured totrack changes in the FMCW parameters, for example track the amplituderepresenting the object 31 moving away from the at least one sensorsubassembly 25, 25′, 25″, 25′″ (a decrease in amplitude) or toward theat least one sensor subassembly 25, 25′, 25″, 25′″ (an increase indetected amplitude) of the sensor signal. As best shown in FIG. 20F, thecorresponding detection angles 81, 82 and distances d1, d2 can be set asnarrow angles at predetermined distances by the user.

In addition, as best shown in FIGS. 21A-21E, the plurality of gesturetype detection modes can include a side to side foot hold gesture mode.Therefore, the valid activation gesture can include a side to sidegesture with a predefined speed and predefined distance ds andpredefined angle θs. So the user can select to detect a side to sidemotion (e.g., laterally toward and laterally away from the at least onesensor subassembly 25, 25′, 25″, 25″). The user can select the speed ofthe motion to be detected as well as the distance threshold ds, howbroad of as stroke the user has to do based on the angle threshold θs.

As best shown in FIG. 21D, the FMCW detected speed and amplitudecharacteristics of the sensor signal can be represented in the frequencydomain. The controller arrangement 24, 88, 90, 92 operating in the sideto side foot hold gesture mode will use the selected thresholds todetect the desired speed (corresponding to frequency f2 in the frequencydomain), predetermined amplitude range shown as A_(s) in FIG. 21D(corresponding to size or distance ds in the frequency domain)representative of the desired foot motion limits. As shown in FIG. 21E,a wider angle at a predetermined distance can be used to capture theside to side motion and the user can select to expand the angle θsand/or distance ds.

It should be appreciated that the plurality of gesture type detectionmodes can also include other modes. For example, the valid activationgesture can include other gestures such as, but not limited to a step-ingesture with a predefined speed and predefined approach distance andpredefined break point and a gesture within a predetermined time period.

Referring to FIGS. 22-28 , another gesture or sequence is shown.Specifically, the valid activation gesture can be a sequence ofsub-gestures matching a predetermined sequence of sub-gestures for auser performing a step in gesture and a step out gesture. So, accordingto an aspect, the predetermined sequence of sub-gestures that representthe valid activation gesture includes a foot of the user (i.e., theobject 31) being placed adjacent to the at least one radar sensorsubassembly 25, 25′, 25″, 25′″ (i.e., a step-in of the detection zone15, shown in FIGS. 22 and 23 ). Next, the foot of the user moving towardthe ground 13 in the detection zone 15 (i.e., a step down in thedetection zone 15, shown in FIGS. 24 and 25 ). Then, the foot of theuser (i.e., the object 31) being on the ground 13 for a minimumpredetermined period of time (i.e., foot on the ground, shown in FIG. 26) and the foot of the user moving off the ground 13 back toward the atleast one radar sensor subassembly 25, 25′, 25″, 25′″ of the detectionmodule 10 (i.e., step up, shown in FIG. 27 ). Finally, the foot of theuser being moved nonadjacent to the at least one radar sensorsubassembly 25, 25′, 25″, 25′″ (i.e., a step out of the detection zone15, shown in FIG. 28 ). Nevertheless, it should be understood that othervalid activation gestures are contemplated.

Accordingly, the controller 24 is configured to detect the sequence ofsub-gestures consisting of at least one of the object 31 moving towardsthe at least one radar sensor subassembly 25, 25′, 25″, 25′″, the object31 moving away from the at least one radar sensor subassembly 25, 25′,25″, 25′″, and the object 31 not moving relative to the at least oneradar sensor subassembly 25, 25′, 25″, 25′″ (i.e., relative to thedetection module 10). In other words, the sequence of sub-gesturesmatching a predetermined sequence of sub-gestures includes thecontroller 24 detecting a sequence consisting of the object 31 movingtowards the at least one radar sensor subassembly 25, 25′, 25″, 25′″(i.e., step in). Then, the object 31 next moving away from the at leastone radar sensor subassembly 25, 25′, 25″, 25′″ (i.e., step down). Next,the object 31 next not moving towards or away from the at least oneradar sensor subassembly 25, 25′, 25″, 25′″ (i.e., foot on ground 13).In more detail, the controller 24 is further configured to determine ifthe sub-gesture whereby the object 31 is not moving towards or away fromthe at least one radar sensor subassembly 25, 25′, 25″, 25′″ occurs fora minimum predetermined amount of time. The sequence of sub-gesturesmatching a predetermined sequence of sub-gestures can also include thecontroller 24 detecting a further sequence consisting of the object 31next moving towards the at least one radar sensor subassembly 25, 25′,25″, 25′″ (i.e., step up) and the object 31 next moving away from the atleast one radar sensor subassembly 25, 25′, 25″, 25″. The sequence alsoincludes the object 31 next moving out of the detection zone 15 (i.e.,step out).

FIGS. 22 and 23 show a step in sub-gesture. As shown initially in FIG.22 , using the at least one radar sensor subassembly 25, 25′, 25″, 25′″,the controller 24 detects reflected radar waves corresponding with thevelocity characteristic and amplitude characteristic being above a stepin threshold indicating that the foot has entered the detection zone 15.Consequently, the controller 24 transitions from the first or monitormode to the second or step in detecting mode. Referring to FIG. 23 ,both the velocity characteristic and the amplitude characteristic arepositive (i.e., have a positive sign). In other words, both a timeplotted velocity characteristic and time plotted amplitudecharacteristic are rising in the positive direction and above the stepin threshold for the step in sub-gesture. While both the amplitude andvelocity characteristics are shown to be positive rising edges and abovethe corresponding thresholds (both velocity and amplitude), they do nothave to be in the same rate, since it depends on different user's stepgesture and rate as well (slow, fast or normal and the way the user doestheir steps, etc.).

FIGS. 24 and 25 show a step down sub-gesture. Referring first to FIG. 24, both the velocity characteristic and amplitude characteristic indicatethe foot or object 31 has completed its first sub-gesture (the step insub-gesture) and is beginning a next sub gesture, the step down (e.g., adownward approach towards the ground 13). The controller 24 detects apeak in both the positive velocity characteristic and positive amplitudecharacteristic. Specifically, both the time plotted velocitycharacteristic and amplitude characteristic have stopped rising in thepositive direction. Consequently, the controller 24 transitions from thesecond or step in detected mode to a third or step down monitored mode.Next referring to FIG. 20 , the controller 24 detects both a negativevelocity characteristic and negative amplitude characteristic. That isboth the time plotted velocity characteristic and amplitudecharacteristic are dropping in the negative direction. However, thefalling rate does not need to be considered since users may havevariations in their steps. The negative velocity characteristicindicates foot moving away from the at least one sensor subassembly 25,25′, 25″, 25′″ and the negative amplitude characteristic confirms thefoot or object 31 is moving away from the at least one sensorsubassembly 25, 25′, 25″, 25″. So, the controller 24 transitions fromthe third or step down monitor mode to a fourth or step down detectedmode.

FIG. 26 shows a step hold or foot on ground sub-gesture (e.g., placementor foot on the ground 13 without movement for a period of time). Thecontroller 24 detects that the velocity characteristic and amplitudecharacteristic are below the threshold for a minimum period of time. So,the controller 24 transitions from the fourth or step down detected to afifth or step hold detecting mode.

FIG. 27 shows a step up sub-gesture (e.g., lifting of the foot off ofthe ground 13). The controller 24 detects both a positive velocitycharacteristic and positive amplitude characteristic. In other words,both the velocity characteristic and the amplitude characteristic areincreasing in the positive direction. The positive velocitycharacteristic indicates foot moving towards the at least one sensorsubassembly 25, 25′, 25″, 25′″ and the positive amplitude characteristicconfirms the foot 21 is moving towards at least one sensor subassembly25, 25′, 25″, 25″. Thus, the controller 24 transitions from the fifth orstep hold detecting mode to a sixth or step up detected mode.

FIG. 28 shows a step out sub-gesture. The controller 24 detects that thereflected radar signal (velocity characteristic and amplitudecharacteristic) have fallen below the threshold level for eachindicating that the foot 21 has exited the detection zone 15. Thecontroller 24 transitions from the sixth or step up detected mode to aseventh or step out detected mode. A step gesture validation process canthen begin.

As best shown in FIGS. 29-31 , a method of operating a detection systemfor user-activated, non-contact activation of a powered closure panel12, 12′ of a vehicle 14 are also provided. The method can include thestep of receiving a user input from a gesture selector 94, 96 using acontroller arrangement 24, 88, 90, 92 in communication with the gestureselector 94, 96. Next, adjusting at least one of a plurality ofpredetermined thresholds representing a valid activation gesture by theuser required to move a closure panel 12, 12′ based on the user inputfrom the user interface 94 using the controller arrangement 24, 88, 90,92. The method can proceed with the step of sensing a motion andcharacteristics of an object in a detection zone 15 using at least onesensor subassembly 25, 25′, 25″, 25′″ coupled to the controllerarrangement 24, 88, 90, 92. The method can then include the step ofoutputting a sensor signal corresponding to the motion andcharacteristics of the object 31 in the detection zone 15 using the atleast one sensor subassembly 25, 25′, 25″, 25″. As discussed above, theat least one sensor subassembly 25, 25′, 25″, 25′″ can be a radar sensorsubassembly 25, 25′, 25″, 25″. Therefore, the step of sensing the motionand characteristics of the object 31 in the detection zone 15 using theat least one sensor subassembly 25, 25′, 25″, 25′″ coupled to thecontroller arrangement 24, 88, 90, 92 can include the steps oftransmitting radar waves using least one radar transmit antenna 26 of atleast one radar sensor subassembly 25, 25′, 25″, 25′″ and receiving theradar waves after reflection from the object 31 in the detection zone 15and using at least one radar receive antenna 28 of the at least oneradar sensor subassembly 25, 25′, 25″, 25″. Then, the method cancontinue with the step of sensing the motion and characteristics of theobject 31 in the detection zone 15 based on the radar waves received.

The next step of the method is receiving and analyzing the sensor signalfrom the at least one sensor assembly 25, 25′, 25″, 25′″ using thecontroller arrangement 24, 88, 90, 92. The method proceeds bydetermining whether the sensor signal is within the plurality ofpredetermined thresholds using the controller arrangement 24, 88, 90, 92and initiating movement of the closure panel 12, 12′ in response to thesensor signal being within the plurality of predetermined thresholdsrepresenting the valid activation gesture using the controllerarrangement 24, 88, 90, 92.

Referring to FIG. 29 , in the event that the gesture selector 94, 96 isa user interface 94 configured to accept the user input from the user,the method can further include the step of 300 monitoring the userinterface 94 for the user input to select one of a plurality of gesturedetection modes. The method can then include the step of 302 operating amaster vehicle node 90 coupled to the user interface 94 and operablewith a plurality of gesture operation mode statuses 106 and a pluralityof preloaded detection algorithms 108 corresponding to the user input.The next step of the method can be 304 initiating movement of theclosure panel 12, 12′ in response to the sensor signal being within theplurality of predetermined thresholds representing the valid activationgesture associated with the one of the plurality of gesture detectionmodes.

Referring to FIG. 30 , the method can further include the steps of 106assigning one of a plurality of gesture detection modes to a fob 92 incommunication with the controller arrangement 24, 88, 90, 92 and 308monitoring for an approach of the fob 92 to the vehicle 14. The methodcan continue by 310 operating a master vehicle node 90 coupled to theuser interface 94 and operable with a plurality of gesture operationmode statuses 106 and a plurality of preloaded detection algorithms 108corresponding to the one of the plurality of gesture detection modesassigned to the fob 92. The method can then include the step of 312initiating movement of the closure panel 12, 12′ in response to thesensor signal being within the plurality of predetermined thresholdsrepresenting the valid activation gesture associated with the one of theplurality of gesture detection modes assigned to the fob 92.

Referring to FIG. 31 , the method can further include the steps of 114detecting the connection of an electronic controller 24 of a detectionmodule operating in one of a plurality of gesture type detection modesto a body control module operable with a plurality of gesture operationmode statuses 106 and a plurality of preloaded detection algorithms 108.The next step of the method can be 316 communicating one of theplurality of gesture operation mode statuses 106 to the body controlmodule 88 in response to detecting the connection of the electroniccontroller 24 to the body control module 88. The method can proceed by318 processing the sensor signal from the at least one sensorsubassembly 25, 25′, 25″, 25′″ using the body control module 88 with atleast one of the plurality of preloaded detection algorithms 108 basedon the one of the plurality of gesture operation mode statuses 106 fromthe electronic controller 24.

As mentioned above, the gesture selector 94, 96 can be a tool 96 forselectively coupling to the body control module 88. Consequently, themethod can further include the step of selectively decoupling the bodycontrol module 88 from the electronic controller 24 of the detectionmodule 10 in response to the tool 96 being selectively coupled to thebody control module 88.

Also disclosed is a Doppler based user-activated, non-contact activationsystem 11, 11′ for operating a closure panel 12, 12′ coupled to avehicle body 16 of a vehicle 14, comprising: at least one radar sensorsubassembly 25, 25′, 25″, 25′″ coupled to the vehicle body (e.g., bumper16) and including at least one radar transmit antenna 26 fortransmitting radar waves and at least one radar receive antenna 28 forreceiving the radar waves after reflection from an object 31 in adetection zone 15 for sensing a motion of the object 31 in the detectionzone and outputting a sensor signal corresponding to the motion of theobject 31 in the detection zone 15; and a controller 24 coupled to theat least one radar sensor subassembly 25, 25′, 25″, 25′″ and configuredto determine a velocity characteristic and an amplitude characteristiccorresponding to the motion of the object 31 in the detection zone 15using the sensor signal and issue a command to an actuator to initiatemovement of the closure panel 12, 12′ in response to matching apredetermined motion with the motion determined to have a correlationbetween the velocity characteristic and the amplitude characteristic.

According to an aspect, the controller 24 is configured to: receive thesensor signal; determine a plurality of velocity characteristics and aplurality of amplitude characteristics based on the sensor signalrepresentative of the motion of the object 31; analyze the plurality ofvelocity characteristics and the plurality of amplitude characteristicsto detect a sequence of sub-gestures forming the motion; and issue acommand to the actuator to initiate movement of the closure panel 12,12′ in response to the sequence of sub-gestures matching a predeterminedsequence of sub-gestures.

According to an aspect, the controller 24 is configured to detect thesequence of sub-gestures consisting of at least one of the object 31moving towards the at least one radar sensor subassembly 25, 25′, 25″,25′″, the object 31 moving away from the at least one radar sensorsubassembly 25, 25′, 25″, 25′″, and the object 31 not moving relative tothe at least one radar sensor subassembly 25, 25′, 25″, 25″.

According to an aspect, the controller 24 is further configured todetect an entry of the object 31 into the detection zone 15 and an exitof the object 31 out of the detection zone 15 based on the plurality ofamplitude characteristics being below a predetermined amplitudethreshold.

According to an aspect, the controller 24 is further configured tocorrelate a rate of change of the plurality of velocity characteristicswith the rate of change of the plurality of amplitude characteristics toclassify at least one sub-gesture of the sequence of sub-gestures.

According to an aspect, the controller 24 is further configured tocorrelate a peak of the plurality of velocity characteristics with apeak of the plurality of amplitude characteristics to classify the endof one of the sub-gestures and the beginning of another one of thesub-gestures.

According to an aspect, the controller 24 is further configured to:detect the object 31 moving towards the at least one radar sensorsubassembly 25, 25′, 25″, 25′″ based on analyzing the plurality ofvelocity characteristics and determining a positive velocitycharacteristic; detect the object 31 moving away from the at least oneradar sensor subassembly 25, 25′, 25″, 25′″ based on analyzing theplurality of velocity characteristics and determining a negativevelocity characteristic; and detect the object 31 not moving relative tothe at least one radar sensor subassembly 25, 25′, 25″, 25′″ based onanalyzing the plurality of velocity characteristics and determining novelocity characteristic.

According to an aspect, the controller 24 is further configured to:detect the object 31 moving towards the at least one radar sensorsubassembly 25, 25′, 25″, 25′″ based on analyzing the plurality ofamplitude characteristics and determining a positive amplitudecharacteristic; detect the object 31 moving away from the at least oneradar sensor subassembly 25, 25′, 25″, 25′″ based on analyzing theplurality of amplitude characteristics and determining a negativeamplitude characteristic; and detect the object 31 not moving relativeto the at least one radar sensor subassembly 25, 25′, 25″, 25′″ based onanalyzing the plurality of amplitude characteristics and determining noamplitude characteristic.

According to an aspect, the controller 24 is configured to detect theobject 31 moving relative to the at least one radar sensor subassembly25, 25′, 25″, 25′″ based on analyzing the plurality of velocitycharacteristics and determining a sign of the plurality of velocitycharacteristics and analyzing the plurality of amplitude characteristicsand determining a sign of the plurality of amplitude characteristics,wherein the controller 24 is configured to determine that the object 31is moving towards the at least one radar sensor subassembly 25, 25′,25″, 25′″ when the sign of both the velocity characteristic andplurality of amplitude characteristics are positive, and determine thatthe object 31 is moving away from the at least one radar sensorsubassembly 25, 25′, 25″, 25′″ when the sign of both the plurality ofvelocity characteristics and the plurality of amplitude characteristicsare negative.

According to an aspect, the sequence of sub-gestures matching apredetermined sequence of sub-gestures includes the controller 24detecting a sequence consisting of: the object 31 moving towards the atleast one radar sensor subassembly 25, 25′, 25″, 25′″, then the object31 next moving away from the at least one radar sensor subassembly 25,25′, 25″, 25′″, and then the object 31 next not moving towards or awayfrom the at least one radar sensor subassembly 25, 25′, 25″, 25″.

According to an aspect, the sequence of sub-gestures matching apredetermined sequence of sub-gestures includes the controller 24detecting a further sequence consisting of: the object 31 next movingtowards the at least one radar sensor subassembly 25, 25′, 25″, 25′″,the object 31 next moving away from the at least one radar sensorsubassembly 25, 25′, 25″, 25′″, and the object 31 next moving out of thedetection zone 15.

According to an aspect, the controller 24 is further configured todetermine if the sub-gesture whereby the object 31 is not moving towardsor away from the object 31 moving away from the at least one radarsensor subassembly 25, 25′, 25″, 25′″ occurs for a minimum predeterminedamount of time.

According to an aspect, the controller 24 is further configured todetermine the plurality of velocity characteristics based on Dopplershifts between the radar waves transmitted by the at least one radartransmit antenna 26 and the radar waves received by the at least oneradar receive antenna 28 and determine the plurality of amplitudecharacteristics based on the strength of the radar waves received by theat least one radar receive antenna 28 relative to the radar wavestransmitted by the at least one radar transmit antenna 26.

According to an aspect, the radar waves transmitted from the at leastone radar transmit antenna 26 are unmodulated continuous wave radarwaves 73 and the controller 24 is not configured to employ modulatedcontinuous-wave techniques for determining the plurality of velocitycharacteristics and the plurality of amplitude characteristics.

According to an aspect, the object 31 is a foot and the at least oneradar sensor subassembly 25, 25′, 25″, 25′″ is mounted on a vehiclebumper 18 and the closure panel 12, 12′ is a lift gate 12.

According to an aspect, the sequence of sub-gestures corresponds to auser performing a step in gesture and a step out gesture.

According to an aspect, the controller 24 is further configured tomonitor the sensor signal and analyze the plurality of velocitycharacteristics and the plurality of amplitude characteristics to detectthe sequence of sub-gestures in response to the at least one of theplurality of velocity characteristics and one of the plurality ofamplitude characteristics being respectively above a velocity noisethreshold and an amplitude noise threshold.

According to an aspect, the controller 24 is further configured tooperate in a monitor mode, and transition to a step in detecting mode inresponse to both one of the plurality of the velocity characteristicsand one of the plurality of amplitude characteristics being respectivelyabove a velocity noise threshold and an amplitude noise threshold.

According to an aspect, the controller 24 is configured to return to themonitor mode in response to either another of the plurality of velocitycharacteristics and another of the plurality of amplitudecharacteristics being respectively below the velocity noise thresholdand the amplitude noise threshold.

According to an aspect, the predetermined sequence of sub-gesturescorresponds to the sequence of sub-gestures consisting of a detectedfirst peak of each the plurality of velocity characteristics and a peakof the plurality of amplitude characteristics over a first period oftime indicating a first sub-gesture to the controller 24, and asubsequently detected second peak of the plurality of velocitycharacteristics and a peak of the plurality of amplitude characteristicsover a second period of time indicating a second sub-gesture to thecontroller 24.

According to an aspect, the controller 24 is further configured toreanalyze at least one of the plurality of velocity characteristics andthe plurality of amplitude characteristics to confirm the detection ofthe detected first peak and the subsequently detected second peak.

According to an aspect, the controller 24 is further configured tocorrelate a slope of the plurality of velocity characteristics with aslope of the plurality of amplitude characteristics to classify themotion as a valid motion.

According to an aspect, the controller 24 is further configured tocorrelate a rate of change of slope of the plurality of velocitycharacteristics with a rate of change of the slope of the plurality ofamplitude characteristics to classify the motion as a valid motion.

According to an aspect, the controller 24 is further configured tocorrelate a direction of the slope of the plurality of velocitycharacteristics with a direction of the slope of the plurality ofamplitude characteristics to classify the motion as a valid motion.

Also provided is a method of detecting a gesture for operating a closurepanel actuation system comprising: transmitting radar waves in adetection zone 15; receiving the radar waves after reflection from anobject 31 in the detection zone 15; determining at least one velocitycharacteristic and at least one amplitude characteristic based on theradar waves received after reflection indicative of a motion of theobject 31; determining a correlation between the at least one velocitycharacteristic and the at least one amplitude characteristic; matching apredetermined motion with the motion determined to have a correlationbetween the velocity characteristic and the amplitude characteristic;and commanding the operation of the closure panel actuation system inresponse to matching the predetermined motion with the motion.

According to an aspect, the method further includes the steps of:analyzing at least one of the plurality of velocity characteristics anda plurality of amplitude characteristics to detect a sequence ofsub-gestures forming the motion of the object 31; and commanding themovement of the closure panel 12, 12′ in response to the sequence ofsub-gestures matching a predetermined sequence of sub-gestures.

According to an aspect, the step of analyzing the at least one of theplurality of velocity characteristics and the plurality of amplitudecharacteristics to detect a sequence of sub-gestures of the object 31includes the steps of: identifying a step in sub-gesture in response todetermining that both a first velocity characteristic of the pluralityof velocity characteristics and a first amplitude characteristic of theplurality of amplitude characteristics are on a rising edge and thefirst velocity characteristic and the first amplitude characteristic arerespectively above a velocity noise threshold and an amplitude noisethreshold; identifying a step down sub-gesture in response todetermining that a second velocity characteristic of the plurality ofvelocity characteristics is in a negative direction; identifying a footon the ground sub-gesture in response to determining that a thirdvelocity characteristic of the plurality of velocity characteristics anda third amplitude characteristic of the one of the plurality ofamplitude characteristics are respectively below the velocity noisethreshold and the amplitude noise threshold for a minimum predeterminedamount of time; identifying a step up sub-gesture in response todetermining that a fourth velocity characteristic of the plurality ofvelocity characteristics is in a positive direction; and identifying astep out sub-gesture in response to determining that a fifth velocitycharacteristic of the plurality of velocity characteristics is fallingto the velocity noise threshold.

According to an aspect, the method further includes the step ofprocessing a sensor signal to extract the plurality of velocitycharacteristics and the plurality of amplitude characteristics.

According to an aspect, the step of analyzing the at least one of theplurality of velocity characteristics and the plurality of amplitudecharacteristics to detect a sequence of sub-gestures of the object 31includes the steps of: identifying one of the plurality of the velocitycharacteristics being positive and above a velocity noise threshold; andidentifying one of the plurality of amplitude characteristics beingabove an amplitude noise threshold.

According to an aspect, the method further includes the step ofreanalyzing at least one of the plurality of velocity characteristicsand the plurality of amplitude characteristics to validate the sequenceof sub-gestures.

Clearly, changes may be made to what is described and illustrated hereinwithout, however, departing from the scope defined in the accompanyingclaims. The foregoing description of the embodiments has been providedfor purposes of illustration and description. It is not intended to beexhaustive or to limit the disclosure. Individual elements or featuresof a particular embodiment are generally not limited to that particularembodiment, but, where applicable, are interchangeable and can be usedin a selected embodiment, even if not specifically shown or described.The same may also be varied in many ways. Such variations are not to beregarded as a departure from the disclosure, and all such modificationsare intended to be included within the scope of the disclosure.

The terminology used herein is for the purpose of describing particularexample embodiments only and is not intended to be limiting. As usedherein, the singular forms “a,” “an,” and “the” may be intended toinclude the plural forms as well, unless the context clearly indicatesotherwise. The terms “comprises,” “comprising,” “including,” and“having,” are inclusive and therefore specify the presence of statedfeatures, integers, steps, operations, elements, and/or components, butdo not preclude the presence or addition of one or more other features,integers, steps, operations, elements, components, and/or groupsthereof. The method steps, processes, and operations described hereinare not to be construed as necessarily requiring their performance inthe particular order discussed or illustrated, unless specificallyidentified as an order of performance. It is also to be understood thatadditional or alternative steps may be employed.

When an element or layer is referred to as being “on,” “engaged to,”“connected to,” or “coupled to” another element or layer, it may bedirectly on, engaged, connected or coupled to the other element orlayer, or intervening elements or layers may be present. In contrast,when an element is referred to as being “directly on,” “directly engagedto,” “directly connected to,” or “directly coupled to” another elementor layer, there may be no intervening elements or layers present. Otherwords used to describe the relationship between elements should beinterpreted in a like fashion (e.g., “between” versus “directlybetween,” “adjacent” versus “directly adjacent,” etc.). As used herein,the term “and/or” includes any and all combinations of one or more ofthe associated listed items.

Although the terms first, second, third, etc. may be used herein todescribe various elements, components, regions, layers and/or sections,these elements, components, regions, layers and/or sections should notbe limited by these terms. These terms may be only used to distinguishone element, component, region, layer or section from another region,layer or section. Terms such as “first,” “second,” and other numericalterms when used herein do not imply a sequence or order unless clearlyindicated by the context. Thus, a first element, component, region,layer or section discussed below could be termed a second element,component, region, layer or section without departing from the teachingsof the example embodiments.

Spatially relative terms, such as “inner,” “outer,” “beneath,” “below,”“lower,” “above,” “upper,” “top”, “bottom”, and the like, may be usedherein for ease of description to describe one element's or feature'srelationship to another element(s) or feature(s) as illustrated in thefigures. Spatially relative terms may be intended to encompass differentorientations of the device in use or operation in addition to theorientation depicted in the figures. For example, if the device in thefigures is turned over, elements described as “below” or “beneath” otherelements or features would then be oriented “above” the other elementsor features. Thus, the example term “below” can encompass both anorientation of above and below. The device may be otherwise oriented(rotated 90 degrees or at other orientations) and the spatially relativedescriptions used herein interpreted accordingly.

1. A detection system for user-activated, non-contact activation of aclosure panel of a vehicle comprising: a detection module including atleast one sensor subassembly coupled to a vehicle body of the vehiclefor detecting an object in a detection zone and sensing a motion andcharacteristics of the object in the detection zone and outputting asensor signal corresponding to the motion and characteristics of theobject in the detection zone; a gesture selector for accepting a userinput from a user to select a valid activation gesture; a controllerarrangement coupled to the at least one sensor subassembly and incommunication with the gesture selector and configured to: receive theuser input from the gesture selector and adjust at least one of aplurality of predetermined thresholds representing the valid activationgesture by the user required to move the closure panel based on the userinput, receive and analyze the sensor signal from the at least onesensor subassembly, determine whether the sensor signal is within theplurality of predetermined thresholds, and initiate movement of theclosure panel in response to the sensor signal being within theplurality of predetermined thresholds representing the valid activationgesture.
 2. The detection system as set forth in claim 1, wherein thecontroller arrangement is operable in a plurality of gesture typedetection modes and is further configured to select one of the pluralityof gesture type detection modes based on the user input.
 3. Thedetection system as set forth in claim 2, wherein the controllerarrangement includes: an electronic controller of the detection moduleoperating in one of the plurality of gesture type detection modes andcoupled to the at least one sensor subassembly and to a power actuatorof the closure panel and including a module local interconnect networkinterface; a body control module coupled the electronic controller andincluding a body control local interconnect network interface; a mastervehicle node operable with a plurality of gesture operation modestatuses and a plurality of preloaded detection algorithms correspondingto the user input and coupled the electronic controller and including amaster node local interconnect network interface and coupled to the bodycontrol module and in communication with the gesture selector; andwherein the detection system further includes a fob in communicationwith at least one of the electronic controller and the body controlmodule.
 4. The detection system as set forth in claim 3, wherein thegesture selector is a user interface configured to accept the user inputfrom the user.
 5. The detection system as set forth in claim 2, whereinthe controller arrangement includes: an electronic controller of thedetection module operating in one of the plurality of gesture typedetection modes and coupled to the at least one sensor subassembly andto a power actuator of the closure panel and including a module localinterconnect network interface; a body control module operable with aplurality of gesture operation mode statuses and a plurality ofpreloaded detection algorithms and coupled the electronic controller andincluding a body control local interconnect network interface; andwherein the detection system further includes a fob in communicationwith at least one of the electronic controller and the body controlmodule and wherein the electronic controller is configured tocommunicate an operating mode to the body control module.
 6. Thedetection system as set forth in claim 3, wherein the gesture selectoris a tool for selectively coupling to the body control module throughthe body control local interconnect network interface.
 7. A method ofoperating a detection system for user-activated, non-contact activationof a closure panel of a vehicle, comprising the steps of: receiving auser input from a gesture selector using a controller arrangement incommunication with the gesture selector; adjusting at least one of aplurality of predetermined thresholds representing a valid activationgesture by a user required to move the closure panel based on the userinput from the gesture selector using the controller arrangement;sensing a motion and characteristics of an object in a detection zoneusing at least one sensor subassembly coupled to the controllerarrangement; outputting a sensor signal corresponding to the motion andcharacteristics of the object in the detection zone using the at leastone sensor subassembly; receiving and analyzing the sensor signal fromthe at least one sensor subassembly using the controller arrangement;determining whether the sensor signal is within the plurality ofpredetermined thresholds using the controller arrangement; andinitiating movement of the closure panel in response to the sensorsignal being within the plurality of predetermined thresholdsrepresenting the valid activation gesture using the controllerarrangement.
 8. The method as set forth in claim 7, wherein the at leastone sensor subassembly is a radar sensor subassembly and the step ofsensing the motion and characteristics of the object in the detectionzone using the at least one sensor subassembly coupled to the controllerarrangement includes the steps of: transmitting radar waves using leastone radar transmit antenna of the at least one sensor subassembly;receiving the radar waves after reflection from the object in thedetection zone and using at least one radar receive antenna of the atleast one sensor subassembly; and sensing the motion and characteristicsof the object in the detection zone based on the radar waves received.9. The method as set forth in claim 7, wherein the gesture selector is auser interface configured to accept the user input from the user and themethod further includes the steps of: monitoring the user interface forthe user input to select one of a plurality of gesture detection modes;operating a master vehicle node coupled to the user interface andoperable with a plurality of gesture operation mode statuses and aplurality of preloaded detection algorithms corresponding to the userinput; and initiating movement of the closure panel in response to thesensor signal being within the plurality of predetermined thresholdsrepresenting the valid activation gesture associated with the one of theplurality of gesture detection modes.
 10. The method as set forth inclaim 7, further including the steps of: detecting a connection of anelectronic controller of a detection module operating in one of aplurality of gesture type detection modes to a body control moduleoperable with a plurality of gesture operation mode statuses and aplurality of preloaded detection algorithms; communicating one of theplurality of gesture operation mode statuses to the body control modulein response to detecting the connection of the electronic controller tothe body control module; and processing the sensor signal from the atleast one sensor subassembly using the body control module with at leastone of the plurality of preloaded detection algorithms based on the oneof the plurality of gesture operation mode statuses from the electroniccontroller.
 11. A detection system for user-activated, non-contactactivation of a closure panel of a vehicle, the detection systemcomprising: at least one radar sensor disposed at the vehicle forsensing motion of a person's foot in a detection zone and outputting asensor signal based at least in part on the sensed motion of theperson's foot in the detection zone; wherein the at least one radarsensor comprises (i) at least one radar transmit antenna that transmitsradar waves and (ii) at least one radar receive antenna that receivesradar waves; wherein the closure panel comprises a rear powered liftgate of the vehicle, and wherein the detection zone is exterior the rearpowered lift gate of the vehicle; a controller disposed at the vehicle,wherein the controller, based at least in part on a user input, adjustsa threshold for a valid activation gesture required to move the closurepanel; wherein, responsive to processing at the controller of the sensorsignal output by the at least one radar sensor, the detection systemdetermines whether the sensor signal is within the threshold for a validactivation gesture required to move the closure panel; and wherein,responsive to determining that the sensor signal is within the thresholdfor a valid activation gesture required to move the closure panel, thedetection system generates an output to move the closure panel.
 12. Thedetection system as set forth in claim 11, wherein the controller, basedat least in part on the user input, adjusts a plurality of thresholdsfor a valid activation gesture required to move the closure panel. 13.The detection system as set forth in claim 11, wherein the user input isrepresents a threshold parameter selected by a user from a plurality ofthreshold parameters.
 14. The detection system as set forth in claim 11,wherein the controller is operable in a plurality of gesture typedetection modes, and wherein the controller operates in a selected oneof the plurality of gesture type detection modes based at least in parton the user input.
 15. The detection system as set forth in claim 11,wherein the controller and the at least one radar sensor are part of adetection module.
 16. The detection system as set forth in claim 11,wherein the controller is electrically connected to a power actuator ofthe closure panel via a local interconnect network interface.
 17. Thedetection system as set forth in claim 16, comprising a body controlmodule electrically connected to the controller via a body control localinterconnect network interface.
 18. The detection system as set forth inclaim 17, comprising a fob in communication with at least one of thecontroller and the body control module.
 19. The detection system as setforth in claim 17, comprising a master vehicle node configured with aplurality of gesture operation mode statuses and a plurality ofpreloaded detection algorithms corresponding to a plurality of userinputs, wherein the master vehicle node is electrically connected to thecontroller via a master node local interconnect network interface. 20.The detection system as set forth in claim 11, wherein the detectionsystem, responsive to processing at the controller of the sensor signaloutput by the at least one radar sensor, (i) determines a plurality ofcharacteristics of the motion of the person's foot, (ii) determines asequence of sub-gestures forming the motion of the person's foot basedat least in part on the determined plurality of characteristics, and(iii) determines whether the determined sequence of sub-gestures of theperson's foot match a predetermined sequence of sub-gestures.